Cooperative control method for unmanned aerial vehicle power line routing inspection

Abstract

The invention discloses a cooperative control method for unmanned aerial vehicle power line routing inspection. The cooperative control method includes the control steps in the power line outer side turning stage and the controlling steps in the power line inner side turning stage in the unmanned aerial vehicle power line routing inspection. In the power line inner side turning stage, the control steps include the control steps executed when the turning angle is larger than 90 degrees and the control steps executed when the turning angle is smaller than 90 degrees. By means of the cooperative control method for unmanned aerial vehicle power line routing inspection, cooperative control over automatic data acquisition task execution is implemented in the two important stages, namely, the power line outer side turning stage and the power line inner side turning stage, in the unmanned aerial vehicle power line routing inspection. In addition, by means of the cooperative control method for unmanned aerial vehicle power line routing inspection, cooperative control over unmanned aerial vehicles can be further conducted in the stage of flight along the power line, the stage of task starting, the stage of task suspending and the stage of task completing. The cooperative control method can coordinate multi-sensor task execution and state monitoring of unmanned aerial vehicles flying along the channel of the power line, can be used for data acquisition of transmission line safety routing inspection of the electric power department and can greatly improve efficiency of transmission line routing inspection.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle power line inspection, in particular to a collaborative control method for unmanned aerial vehicle power line inspection. Background technique [0002] The current operation and maintenance mode and inspection method of high-voltage transmission lines in the power grid mainly rely on ground vehicles or walking on foot, and use hand-held instruments or naked eyes to inspect facilities and deal with defects, which can no longer meet the development and safe operation needs of modern power grids. The UHV power grid urgently needs safe, advanced, scientific and efficient power inspection methods. [0003] In recent years, power grid companies have gradually adopted unmanned aerial vehicles (UAVs) as the carrying platform, loaded with sensor terminals to conduct high-altitude inspections of transmission line equipment and corridor environments, which can partially replace manual line in...

AI Technical Summary

Problems solved by technology

However, due to the lack of overall system design, the synchronization between various devices and sensors, and the complexity of the working mode, the various sensors loaded on the UAV lack connection in most cases, and the data transmission and processing are also independent of each other, so they cannot play a full role. Advantages and accuracy of multi-source data comparison of sensor synchronous inspection

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